Abstract : Human balance recovery from external disturbances is a complex process, and simulating it remains an open challenge. In particular, there still is a need for a comprehensive numerical tool capable of predicting the outcome of a balance perturbation, including in particular the three elementary recovery strategies: ankle, hip and stepping with variable step duration. In order to fill this gap we further developed a previously proposed multiple step balance recovery prediction tool to include the use of the hip strategy and variable step duration. Simulated recovery reactions are compared against observations from different experimental situations from the literature. Reasonable accuracy in terms of step positions and durations were obtained for these different situations using a single set of controller parameters. Moreover, variations in the use of the hip strategy and the step duration between situations were consistent with biomechanical observations. Such a model could be useful to better understand the balance recovery mechanisms, and could also be used to identify potentially hazardous situations.